Prof. Dr. rer. nat. Debora Clever

Debora Clever received a Diploma Degree from TU Darmstadt in Techno-Mathematics with the minors Computer Science and Cybernetics. Already during her Bachelor studies she has been looking into Robotics.

During her PhD at the Department of Mathematics she developed adaptive methods for space-time dependent problems in engineering applications. As post-doctoral researcher she then worked at the University of Heidelberg at the Interdisciplinary Center for Scientific Computing (IWR) in the EU-Project KoroiBot. Here, the focus was on optimal control for human gait analysis and for the generation of bi-pedal walking motions for humanoid robots.

In 2016 Mrs. Clever continued her career with the ABB AG where she is working until today at the research center in Ladenburg as a senior scientist with focus on motion planning and control for industrial robots.

In October 2018, after 5 years, Mrs. Clever rejoined the TU Darmstadt – first as guest professor and since August 1st 2020 as cooperation professor – heading the research group robotic systems at the IMS at the Department of Mechanical Engineering.

Conference contributions

M. Lutter, D. Clever, B. Belousov, K. Listmann, J. Peters, Evaluating the Robustness of HJB Optimal Feedback Control, to appear in 52nd International Symposium on Robotics (ISR), VDE, 2020

E. Hoogerwerf, M. Bharatheesha, D. Clever, IOC Based Trajectory Generation to Increase Human Acceptance of Robot Motions in Collaborative Tasks, to appear in 21st World Congress of the International Federation of Automatic Control (IFAC), 2020

F. Stuhlenmiller, J. Jungblut, D. Clever, S. Rinderknecht, Combined Analysis of Energy Consumption and Expected Service Life of a Robotic System, 6th IEEE International Conference on Mechatronics and Robotics Engineering (ICMRE) pp. 53-57), 2020

M. Lutter, B. Belousov, K. Listmann, D. Clever, J. Peters, HJB Optimal Feedback Control with Deep Differential Value Functions and Action Constraints, 3rd Conferenceon Robot Learning (CoRL), 2019.

• S. Klose, A. Wahrburg, D. Clever, H. Ding, A General Admittance Control Approach for Indirect Force Control of Industrial Manipulators, IEEE European Control Conference (ECC) pp. 261-267, 2018

A. Wahrburg, S. Klose, D. Clever, T. Groth, S. Moberg, J. Styrud, H. Ding, Modeling Speed-, Load-, and Position-Dependent Friction Effects in Strain Wave Gears, IEEE International Conference on Robotics and Automation (ICRA), pp. 2095-2102, 2018

A.L. Kleesattel, D. Clever, J. Funken, W. Potthast and K. Mombaur, Modeling and Optimal Control of Able-Bodied and Unilateral Amputee Running, International Society of Biomechanics Conference Proceedings, vol. 35, 164 – 167, 2017

R. M. Schemschat, D. Clever and K. Mombaur, Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons, Proceedings of IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SimPar), 2016

D. Clever, R. M. Schemschat, M. L. Felis, K. Mombaur, Inverse Optimal Control Based Identification of Optimality Criteria in Whole-Body Human Walking on Level Ground, Proceedings of International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016

R. M. Schemschat, D. Clever, M. L. Felis, E. Chiovetto , M. Giese, K. Mombaur, Joint Torque Analysis of Push Recovery Motions during Human Walking, Proceedings of International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016

D. Clever and K. Mombaur, An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots, Robotics: Science and Systems (RSS), 2016

R. M. Schemschat, D. Clever, M. L. Felis, K. Mombaur, Optimal Push Recovery for Periodic Walking Motions, 6th IFAC Workshop on Periodic Control Systems (PSYCO), 2016

M. Schemschat, D. Clever and K. Mombaur, Model-based optimization for the design of exoskeletons that help humans to sustain large pushes while walking, Proceedings of International Conference on NeuroRehabilitation (ICNR), 2016

K. Mombaur, D. Clever and A. Schubert, Benchmarking data for human walking in different scenarios, Springer, Proceedings of International Symposium on Wearable Robotics (WeRob 2016), Oct, 2016

K. H. Koch, D. Clever, K. Mombaur and D. M. Endres, Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 866 – 873, 2015

D. Clever, K. Mombaur, A New Template Model for Optimization Studies of Human Walking on Different Terrains, In Humanoid Robots (Humanoids), 14th IEEE-RAS International Conference on, 500 – 505, 2014

D. Clever, K. Hatz, K. Mombaur, Studying Dynamical Principles of Human Locomotion using Inverse Optimal Control, Proceedings in Applied Mathematics and Mechanics, 14(1), 801 – 802, 2014

D. Clever, J. Lang, Multilevel Optimization for PDAE-constrained Optimal Control Problems with Pointwise Constraints on Control and State, Proceedings in Applied Mathematics and Mechanics, vol. 12, issue 1, 689 – 690, 2012

D. Clever, J. Lang, S. Ulbrich, J. C. Ziems, Combination of an Adaptive Multilevel SQP Method and a Space-Time Adaptive PDAE Solver for Optimal Control Problems, Procedia Computer Science 1, 1429 – 1437, 2010

D. Clever, Efficient Verification Tools for Reduced Derivatives Computed by a First-Optimize-Then-Discretize Approach for Optimal Control Problems, Proceedings in Applied Mathematics and Mechanics, vol. 10, issue 1, 575 – 576, 2010

Magazine articles

D. Clever, Y. Hu, K. Mombaur, Humanoid Gait Generation in Complex Environments Based on Optimality Principles Learned from Humans, accepted to International Journal of Robotics Research (invited article), 2018

D. Clever, M. Harant, K. Mombaur, M. Naveau, O. Stasse and D. Endres, COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2, IEEE Robotics and Automation Letters, vol. 2, no. 2, 977 – 984, 2017

R.M. Kopitzsch, D. Clever, K. Mombaur, Optimization-based analysis of push recovery during walking motions to support the design of rigid and compliant lower limb exoskeletons, Advanced Robotics, vol. 31, issue 22, 1238 – 1252, 2017

D. Clever, M. Harant, K. H. Koch, K. Mombaur, D. Endres, A Novel Approach for the Generation of Complex Humanoid Walking Sequences Based on a Combination of Optimal Control and Learning of Movement Primitives, Robotics and Autonomous Systems (invited article), vol. 83, 287 – 298, 2016

D. Clever, J. Lang, D. Schröder, Model Hierarchy Based Optimal Control of Radiative Heat Transfer, International Journal of Computational Science and Engineering, vol. 9, nos. 5/6, pp. 509 – 525, 2014

D. Clever, J. Lang, Optimal Control of Radiative Heat Transfer in Glass Cooling with Restrictions on the Temperature Gradient, Optimal Control Applications and Methods, vol. 33, issue 2, 157 – 175, 2012

Book chapters / books

K. Mombaur and D. Clever, Inverse optimal control as a tool to understand human movement, Geometric and Numerical Foundations of Movements (invited article), Springer Tracts in Advanced Robotics (STAR), 163 – 186, 2017

D. Clever, K. Mombaur, On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach, Modeling, Simulation and Optimization of Complex Processes HPSC 2015, Springer International Publishing, 27 – 40, 2017

S. Bott, D. Clever, J. Lang, S. Ulbrich, J. C. Ziems and D. Schröder, On a Fully Adaptive SQP Method for PDAE-Constrained Optimal Control Problems with Control and State Constraints, Trends in PDE Constrained Optimization, 85 – 108, Springer International Publishing, 2014

D. Clever, Adaptive Multilevel Methods for PDAE-Constrained Optimal Control Problems,

Dissertation, Technische Universität Darmstadt, Verlag Dr. Hut, ISBN 978-3-8439-0878-8, München, 2013

D. Clever, J. Lang, S. Ulbrich, J. C. Ziems, Generalized Multilevel SQP-methods for PDAE-constrained Optimization Based on Space-Time Adaptive PDAE Solvers, in: G. Leugering, S. Engell, A. Griewank, M. Hinze, R. Rannacher, V. Schulz, M. Ulbrich, S. Ulbrich (Eds.), Constrained Optimization and Optimal Control for Partial Differential Equations, Springer Verlag, International Series of Numerical Mathematics, vol. 160, 37 – 60, Basel, 2012